add 27 staged episodes

N012/go2_arm/dr_off/seed_3045/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1320 rows vs ceil(2640/2) = 1320"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 211..2849, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "26.29 MB, 1320 frames at 25 fps, mean luma 97..138, std 8, new picture 1319x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1320 vs 1320"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "22.81 MB, 1320 frames at 25 fps, mean luma 78..137, std 41, new picture 1319x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1320 vs 1320"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "squeegee/000/sim_info"
+  }
+ }
+}

N012/go2_arm/dr_off/seed_3045/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n012_go2_off_3045/out  task=N012  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n012_go2_off_3045/out/squeegee/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1320  videos 2  robot_type Go2PlusCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1320 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'
+rows 1320 at dataset fps 25 = 52.80 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1320 rows vs ceil(2640/2) = 1320
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 211..2849, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 26.29 MB, 1320 frames at 25 fps, mean luma 97..138, std 8, new picture 1319x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1320 vs 1320
+[PASS] video observation.images.wrist decodes, 640x480, not black: 22.81 MB, 1320 frames at 25 fps, mean luma 78..137, std 41, new picture 1319x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1320 vs 1320
+parquet size 4.24 MB
+[PASS] sim_info present: squeegee/000/sim_info
+dataset size 53.74 MB; whole cell dir 57.0 MB
+RESULT: ALL PASS

N012/go2_arm/dr_off/seed_3045/config.yaml

@@ -0,0 +1,720 @@
+env_string: SqueegeeEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 3045
+    soft_resets: 1000000
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.1601028590351685
+          - -1.722878094480288
+          - 0.45
+        - - -3.1601028590351685
+          - -1.722878094480288
+          - 0.45
+        ori:
+        - - 0
+          - 0
+          - 25.000000000000075
+        - - 0
+          - 0
+          - 25.000000000000075
+        initial_joint_pos: null
+      action:
+        base_action: unified
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.16
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.35
+            max_vx: 0.35
+            min_vy: -0.25
+            max_vy: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            dynamic_window_source: command
+            default_height: 0.35
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 858.9468504395691
+          - 858.9468504395691
+    water:
+      max_particles: 1500
+      particle:
+        fluid_rest_offset: 0.0027
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8764915517329324
+              dynamic_friction: 0.6573686637996992
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.7
+          - 1.0
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7799360219876519
+              dynamic_friction: 0.5849520164907389
+              restitution: 0.0
+      squeegee:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Squeegee/Object.usda
+        num_per_env: 1
+        random: false
+        squeegee_1:
+          pos:
+          - -0.9985778529226993
+          - 3.120303921516608
+          - 0.7210000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 92.62644469344893
+          physics:
+            type: rigid
+            mass: 0.11460978985789223
+            physics_material:
+              static_friction: 1.4671445523329614
+              dynamic_friction: 1.283751483291341
+              restitution: 0.0
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.0
+          - 3.2065
+          - 0.6485000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.053000000000000005
+          - 0.137
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7624489742131626
+              dynamic_friction: 0.571836730659872
+              restitution: 0.0
+      platform:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Platform/Object.usda
+        num_per_env: 1
+        random: false
+        platform_1:
+          pos:
+          - 2.5
+          - 0.4
+          - 0.6000000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7630501403113767
+              dynamic_friction: 0.5722876052335325
+              restitution: 0.0
+          water: {}
+      trough:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Trough/Object.usda
+        num_per_env: 1
+        random: false
+        trough_1:
+          pos:
+          - 2.74
+          - 0.4
+          - 0.5950000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8377444504336939
+              dynamic_friction: 0.6283083378252704
+              restitution: 0.0
+          water: {}
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 65
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N012
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 3045
+    layout:
+      S:
+      - -3.1601028590351685
+      - -1.722878094480288
+      - 0.43633231299858366
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 0.9
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.0
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.54
+          fwd: 0.0
+          stand:
+          - -1.0
+          - 2.58
+          - 1.5707963267948966
+        B:
+          table: B
+          work_point:
+          - 2.45
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.47
+          fwd: 0.0
+          stand:
+          - 1.9800000000000002
+          - 0.4
+          - 0.0
+    hold_ticks: 40
+    grace_ticks: 400
+    water_settle_ticks: 120
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - squeegee
+      - water
+    water:
+      max_particles: 1500
+    platform:
+      center:
+      - 2.5
+      - 0.4
+      surface_z: 0.6000000000000001
+      drain_x: 2.7
+    puddle:
+      center:
+      - -0.04
+      - 0.0
+      size:
+      - 0.07
+      - 0.06
+      ml: 30.0
+      medium_offset:
+      - 0.02
+      - 0.05
+      hard_gap: 0.14
+    success:
+      min_in_trough: 0.7
+      max_residual: 0.15
+      max_spill: 0.1
+    tool:
+      category: squeegee
+      asset: Squeegee
+      plate_z: 0.7200000000000001
+    view:
+      eye:
+      - 3.12
+      - -0.15000000000000002
+      - 1.05
+      target:
+      - 2.58
+      - 0.4
+      - 0.6000000000000001
+    dr:
+      seed: 3045
+      spawn_dxy:
+      - -0.16
+      - 0.077
+      friction_scale:
+        platform_1: 0.954
+        rack_a0_1: 0.953
+        squeegee_1: 0.917
+        table_a_1: 1.096
+        table_b_1: 0.975
+        trough_1: 1.047
+      moved:
+        squeegee_1:
+        - 0.0014
+        - 0.0003
+        - 2.63
+      light_scale: 0.954
+collect:
+  command:
+    Squeegee:
+      stage_retries: 1
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 2400
+      pre_back: 0.12
+      lift: 0.1
+      carry:
+        lateral: 0.52
+        forward: 0.0
+        z: 0.85
+      blade_clearance: 0.0015
+      approach_above: 0.07
+      push:
+        x_start_world: 2.4
+        x_end_world: 2.745
+        segments: 5
+        blade_x: 0.119
+        blade_low: 0.105
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        pre_push: -1
+        lower: 4
+        push: 4
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.2
+      rotation_threshold: 0.3
+      num_path_segments: 30
+      start_forward_offset: -0.25
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 3000
+      timeout_done_tolerance: 0.06
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      interp_validate_target: true
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.2
+      angle_threshold: 0.3
+      trim: false
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: squeegee
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n012_go2_off_3045/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water
+  - trough

N012/go2_arm/dr_off/seed_3045/squeegee/000/completed/0.json

@@ -0,0 +1 @@
+{"run_id": "squeegee/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N012/go2_arm/dr_off/seed_3045/squeegee/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+oid sha256:85f621c1cfa766bff7493ce675c0c1dd52d4ca5931ec5a81f389c29f69dc8028
+size 4241930

N012/go2_arm/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain."], "length": 1320, "magicsim/control_steps": 2640, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium squeegee, a large brown rack a0, a medium platform and a small trough. The gray table b is in front of the platform. The squeegee is on top of the brown rack a0. The squeegee is to the right of the brown rack a0. The brown rack a0 is to the left of the squeegee. The platform is to the left of the trough. The trough is to the right of the platform. The scene is lit by a cool light from the front. The scene is viewed from front, at table height."}

N012/go2_arm/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/extra/episode_000000.json

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+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium squeegee, a large brown rack a0, a medium platform and a small trough. The gray table b is in front of the platform. The squeegee is on top of the brown rack a0. The squeegee is to the right of the brown rack a0. The brown rack a0 is to the left of the squeegee. The platform is to the left of the trough. The trough is to the right of the platform. The scene is lit by a cool light from the front. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                     [p[trough]\n\n\n[rack a0]e]\n\n\n\n\n                        [robot]"
+  },
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+   "task_id": "N012",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
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+ ],
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+ "terminated": true,
+ "truncated": false
+}

N012/go2_arm/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/info.json

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+}

N012/go2_arm/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
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+    "generated": {
+        "time": "2026-11-08 11:28:56"
+    },
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+                "cfg": "Go2PlusCfg",
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+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
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+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
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+    "timing": {
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+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
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+        "nan_policy": "from_raw",
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+                    "base_action_2",
+                    "base_action_3"
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+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
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+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
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+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
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+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
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+                    "piper_joint6",
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+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
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+                            "table": "B",
+                            "work_point": [
+                                2.45,
+                                0.4
+                            ],
+                            "arm_dir": [
+                                1.0,
+                                0.0
+                            ],
+                            "reach": 0.47,
+                            "fwd": 0.0,
+                            "stand": [
+                                1.9800000000000002,
+                                0.4,
+                                0.0
+                            ]
+                        }
+                    }
+                },
+                "hold_ticks": 40,
+                "grace_ticks": 400,
+                "water_settle_ticks": 120,
+                "object_settle_ticks": 60,
+                "planning": {
+                    "avoid": [
+                        "dynamic"
+                    ],
+                    "ignore": [
+                        "squeegee",
+                        "water"
+                    ]
+                },
+                "water": {
+                    "max_particles": 1500
+                },
+                "platform": {
+                    "center": [
+                        2.5,
+                        0.4
+                    ],
+                    "surface_z": 0.6000000000000001,
+                    "drain_x": 2.7
+                },
+                "puddle": {
+                    "center": [
+                        -0.04,
+                        0.0
+                    ],
+                    "size": [
+                        0.07,
+                        0.06
+                    ],
+                    "ml": 30.0,
+                    "medium_offset": [
+                        0.02,
+                        0.05
+                    ],
+                    "hard_gap": 0.14
+                },
+                "success": {
+                    "min_in_trough": 0.7,
+                    "max_residual": 0.15,
+                    "max_spill": 0.1
+                },
+                "tool": {
+                    "category": "squeegee",
+                    "asset": "Squeegee",
+                    "plate_z": 0.7200000000000001
+                },
+                "view": {
+                    "eye": [
+                        3.12,
+                        -0.15000000000000002,
+                        1.05
+                    ],
+                    "target": [
+                        2.58,
+                        0.4,
+                        0.6000000000000001
+                    ]
+                },
+                "dr": {
+                    "seed": 3045,
+                    "spawn_dxy": [
+                        -0.16,
+                        0.077
+                    ],
+                    "friction_scale": {
+                        "platform_1": 0.954,
+                        "rack_a0_1": 0.953,
+                        "squeegee_1": 0.917,
+                        "table_a_1": 1.096,
+                        "table_b_1": 0.975,
+                        "trough_1": 1.047
+                    },
+                    "moved": {
+                        "squeegee_1": [
+                            0.0014,
+                            0.0003,
+                            2.63
+                        ]
+                    },
+                    "light_scale": 0.954
+                }
+            },
+            "command": {
+                "Squeegee": {
+                    "stage_retries": 1,
+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 2400,
+                    "pre_back": 0.12,
+                    "lift": 0.1,
+                    "carry": {
+                        "lateral": 0.52,
+                        "forward": 0.0,
+                        "z": 0.85
+                    },
+                    "blade_clearance": 0.0015,
+                    "approach_above": 0.07,
+                    "push": {
+                        "x_start_world": 2.4,
+                        "x_end_world": 2.745,
+                        "segments": 5,
+                        "blade_x": 0.119,
+                        "blade_low": 0.105
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "pre_push": -1,
+                        "lower": 4,
+                        "push": 4,
+                        "retreat": 4
+                    }
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "Squeegee": {
+                    "stage_retries": 1,
+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 2400,
+                    "pre_back": 0.12,
+                    "lift": 0.1,
+                    "carry": {
+                        "lateral": 0.52,
+                        "forward": 0.0,
+                        "z": 0.85
+                    },
+                    "blade_clearance": 0.0015,
+                    "approach_above": 0.07,
+                    "push": {
+                        "x_start_world": 2.4,
+                        "x_end_world": 2.745,
+                        "segments": 5,
+                        "blade_x": 0.119,
+                        "blade_low": 0.105
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "pre_push": -1,
+                        "lower": 4,
+                        "push": 4,
+                        "retreat": 4
+                    }
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.3,
+                    "num_path_segments": 30,
+                    "start_forward_offset": -0.25,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
+                    "trim_yaw_threshold": 0.015,
+                    "max_steps": 1500
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 3000,
+                    "timeout_done_tolerance": 0.06,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "interp_steps": 60,
+                    "interp_validate_target": true
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.2,
+                    "angle_threshold": 0.3,
+                    "trim": false
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "ramp_steps": 0,
+                    "hold_steps": 60,
+                    "open_value": 0.0,
+                    "close_value": 1.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "squeegee",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n012_go2_off_3045/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "Water",
+                "trough"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N012/go2_arm/dr_off/seed_3045/squeegee/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d3fa4ccfb9f64f82937d0d5ab534ceb53bba8dfa14c4e493d467c16cba828d8
+size 683245

N012/go2_arm/dr_off/seed_3045/squeegee/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7f80c4db1fca269f94b1db64a80b13430f766d968f41412c8144bf3cddc4580
+size 1304655

N012/go2_arm/dr_off/seed_3045/squeegee/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 11:29:14"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "squeegee/000",
+        "task_type": "Squeegee"
+    }
+}

N012/go2_arm/dr_on/seed_4040/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1319 rows vs ceil(2638/2) = 1319"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 211..2847, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "18.43 MB, 1319 frames at 25 fps, mean luma 76..108, std 7, new picture 1318x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1319 vs 1319"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "26.46 MB, 1319 frames at 25 fps, mean luma 45..94, std 29, new picture 1318x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1319 vs 1319"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "squeegee/000/sim_info"
+  }
+ }
+}

N012/go2_arm/dr_on/seed_4040/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n012_go2_on_4040/out  task=N012  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n012_go2_on_4040/out/squeegee/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1319  videos 2  robot_type Go2PlusCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1319 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'
+rows 1319 at dataset fps 25 = 52.76 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1319 rows vs ceil(2638/2) = 1319
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 211..2847, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 18.43 MB, 1319 frames at 25 fps, mean luma 76..108, std 7, new picture 1318x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1319 vs 1319
+[PASS] video observation.images.wrist decodes, 640x480, not black: 26.46 MB, 1319 frames at 25 fps, mean luma 45..94, std 29, new picture 1318x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1319 vs 1319
+parquet size 4.26 MB
+[PASS] sim_info present: squeegee/000/sim_info
+dataset size 49.57 MB; whole cell dir 52.9 MB
+RESULT: ALL PASS

N012/go2_arm/dr_on/seed_4040/config.yaml

@@ -0,0 +1,720 @@
+env_string: SqueegeeEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 4040
+    soft_resets: 1000000
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -2.882389162195397
+          - -1.9099442609418165
+          - 0.45
+        - - -2.882389162195397
+          - -1.9099442609418165
+          - 0.45
+        ori:
+        - - 0
+          - 0
+          - 25.000000000000075
+        - - 0
+          - 0
+          - 25.000000000000075
+        initial_joint_pos: null
+      action:
+        base_action: unified
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.16
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.35
+            max_vx: 0.35
+            min_vy: -0.25
+            max_vy: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            dynamic_window_source: command
+            default_height: 0.35
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 887.649026079902
+          - 887.649026079902
+    water:
+      max_particles: 1500
+      particle:
+        fluid_rest_offset: 0.0027
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
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+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.9
+          - 0.6
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+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8507890760222758
+              dynamic_friction: 0.6380918070167068
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
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+            - 1
+            - 1
+            - 1
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+            color:
+            - - 0.35
+              - 0.37
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+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7844716611923216
+              dynamic_friction: 0.5883537458942412
+              restitution: 0.0
+      squeegee:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Squeegee/Object.usda
+        num_per_env: 1
+        random: false
+        squeegee_1:
+          pos:
+          - -1.0073409906592137
+          - 3.1219144394489144
+          - 0.7210000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 90.44327577254761
+          physics:
+            type: rigid
+            mass: 0.12223398559814955
+            physics_material:
+              static_friction: 1.7201622455097447
+              dynamic_friction: 1.5051419648210265
+              restitution: 0.0
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.0
+          - 3.2065
+          - 0.6485000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.053000000000000005
+          - 0.137
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8746640990936531
+              dynamic_friction: 0.6559980743202397
+              restitution: 0.0
+      platform:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Platform/Object.usda
+        num_per_env: 1
+        random: false
+        platform_1:
+          pos:
+          - 2.5
+          - 0.4
+          - 0.6000000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7762954538184537
+              dynamic_friction: 0.5822215903638401
+              restitution: 0.0
+          water: {}
+      trough:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Trough/Object.usda
+        num_per_env: 1
+        random: false
+        trough_1:
+          pos:
+          - 2.74
+          - 0.4
+          - 0.5950000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7855377161438657
+              dynamic_friction: 0.5891532871078993
+              restitution: 0.0
+          water: {}
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 65
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N012
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 4040
+    layout:
+      S:
+      - -2.882389162195397
+      - -1.9099442609418165
+      - 0.43633231299858366
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 0.9
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
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+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.0
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.54
+          fwd: 0.0
+          stand:
+          - -1.0
+          - 2.58
+          - 1.5707963267948966
+        B:
+          table: B
+          work_point:
+          - 2.45
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.47
+          fwd: 0.0
+          stand:
+          - 1.9800000000000002
+          - 0.4
+          - 0.0
+    hold_ticks: 40
+    grace_ticks: 400
+    water_settle_ticks: 120
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - squeegee
+      - water
+    water:
+      max_particles: 1500
+    platform:
+      center:
+      - 2.5
+      - 0.4
+      surface_z: 0.6000000000000001
+      drain_x: 2.7
+    puddle:
+      center:
+      - -0.04
+      - 0.0
+      size:
+      - 0.07
+      - 0.06
+      ml: 30.0
+      medium_offset:
+      - 0.02
+      - 0.05
+      hard_gap: 0.14
+    success:
+      min_in_trough: 0.7
+      max_residual: 0.15
+      max_spill: 0.1
+    tool:
+      category: squeegee
+      asset: Squeegee
+      plate_z: 0.7200000000000001
+    view:
+      eye:
+      - 3.12
+      - -0.15000000000000002
+      - 1.05
+      target:
+      - 2.58
+      - 0.4
+      - 0.6000000000000001
+    dr:
+      seed: 4040
+      spawn_dxy:
+      - 0.118
+      - -0.11
+      friction_scale:
+        platform_1: 0.97
+        rack_a0_1: 1.093
+        squeegee_1: 1.075
+        table_a_1: 1.063
+        table_b_1: 0.981
+        trough_1: 0.982
+      moved:
+        squeegee_1:
+        - -0.0073
+        - 0.0019
+        - 0.44
+      light_scale: 0.986
+collect:
+  command:
+    Squeegee:
+      stage_retries: 1
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 2400
+      pre_back: 0.12
+      lift: 0.1
+      carry:
+        lateral: 0.52
+        forward: 0.0
+        z: 0.85
+      blade_clearance: 0.0015
+      approach_above: 0.07
+      push:
+        x_start_world: 2.4
+        x_end_world: 2.745
+        segments: 5
+        blade_x: 0.119
+        blade_low: 0.105
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        pre_push: -1
+        lower: 4
+        push: 4
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.2
+      rotation_threshold: 0.3
+      num_path_segments: 30
+      start_forward_offset: -0.25
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 3000
+      timeout_done_tolerance: 0.06
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      interp_validate_target: true
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.2
+      angle_threshold: 0.3
+      trim: false
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: squeegee
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n012_go2_on_4040/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water
+  - trough

N012/go2_arm/dr_on/seed_4040/squeegee/000/completed/0.json

@@ -0,0 +1 @@
+{"run_id": "squeegee/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N012/go2_arm/dr_on/seed_4040/squeegee/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+oid sha256:450528b48d1f9f8fe724c668c49ad1c4d74ff7b05f5043e1b592031b2b161320
+size 4260533

N012/go2_arm/dr_on/seed_4040/squeegee/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain."], "length": 1319, "magicsim/control_steps": 2638, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium squeegee, a large brown rack a0, a medium platform and a small trough. The gray table b is in front of the platform. The squeegee is on top of the brown rack a0. The squeegee is to the right of the brown rack a0. The brown rack a0 is to the left of the squeegee. The platform is to the left of the trough. The trough is to the right of the platform. The scene is lit by a cool light from the front. The scene is viewed from front, at table height."}

N012/go2_arm/dr_on/seed_4040/squeegee/000/lerobot_v21/meta/extra/episode_000000.json

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+{
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+ "task_type": "Squeegee",
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+ "control_steps": 2638,
+ "language": {
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+    {
+     "id": "table_a_1",
+     "cat_name": "table_a",
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+     "noun": "table a",
+     "color": "gray",
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+     "inst_id": 1,
+     "noun": "table b",
+     "color": "gray",
+     "size": "large",
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+     "noun": "squeegee",
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+     "size": "medium",
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+     "category": "rigid",
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+     "cat_name": "rack_a0",
+     "inst_id": 1,
+     "noun": "rack a0",
+     "color": "brown",
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+     "pos": [
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+       0.0
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+     "noun": "platform",
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+     "size": "medium",
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+     "category": "geometry",
+     "pos": [
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+     "cat_name": "trough",
+     "inst_id": 1,
+     "noun": "trough",
+     "color": null,
+     "size": "small",
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+}

N012/go2_arm/dr_on/seed_4040/squeegee/000/lerobot_v21/meta/info.json

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N012/go2_arm/dr_on/seed_4040/squeegee/000/lerobot_v21/meta/magicsim_manifest.json

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+{
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N012/go2_arm/dr_on/seed_4040/squeegee/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain."}

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N012/go2_arm/dr_on/seed_4040/squeegee/000/run_meta.json

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N012/go2_arm/dr_on/seed_4040/squeegee/000/sim_info/magicsim_manifest.json

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+{
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+        "time": "2026-11-08 11:28:35"
+    },
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+                "cfg": "Go2PlusCfg",
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+                    "go2_FL_hip_joint",
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+                    "go2_RL_hip_joint",
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+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
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+                    "go2_RL_calf_joint",
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+                    "piper_joint3",
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
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+                    "go2_FL_thigh_joint",
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+                    "go2_RR_thigh_joint",
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+                    "go2_FL_calf_joint",
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+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
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+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
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+                "source": "ObservationManager",
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+            }
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+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+}

N012/go2_arm/dr_on/seed_4040/squeegee/000/visual_dr.json

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+   "reset_index": 1,
+   "episode_seed": 4040,
+   "seeds": {
+    "0": 4040
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 14031.111792,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4554.815719,
+     "rotate_deg": [
+      -2.137,
+      -4.218,
+      2.061
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 941.201262,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 7132.761831,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      25.47
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.75956,
+       0.71502,
+       0.76874
+      ]
+     }
+    },
+    {
+     "path": "/World/envs/env_0/Light/light_light_1",
+     "type": "DomeLight",
+     "intensity": 1044.554834,
+     "intensity_base": 887.649,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4557.917316,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      123.688
+     ],
+     "dome": {
+      "path": "/World/envs/env_0/Light/light_light_1",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/noon_grass_4k.hdr",
+      "color": [
+       0.9198,
+       0.8888,
+       0.9748
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.7634,
+      0.8706,
+      0.8021
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.424533,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Stone/Steel_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Steel_Grey",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Paint/Chalk_Paint.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "Water": 2,
+    "trough": 4
+   },
+   "physics_skip": {
+    "physics_binding": 14,
+    "rigid_body": 222,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}

N012/sawyer_umi/dr_off/seed_1101/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2430 rows vs ceil(4860/2) = 2430"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 211..5069, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "57.48 MB, 2430 frames at 25 fps, mean luma 73..145, std 32, new picture 2429x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2430 vs 2430"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "51.10 MB, 2430 frames at 25 fps, mean luma 94..198, std 33, new picture 2429x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2430 vs 2430"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "squeegee/000/sim_info"
+  }
+ }
+}